Suspension conveying system for intelligent storehouse

Abstract

The invention discloses a suspension conveying system for an intelligent storehouse, which belongs to the technical field of storehouse material carrying equipment and comprises a transverse guide rail assembly, a plurality of longitudinal I-shaped guide rails and a carrying assembly, the transverse guide rail assembly comprises a transverse I-shaped guide rail and a steering adjusting assembly which are vertically arranged, and the transverse I-shaped guide rail is provided with a vacant area corresponding to the longitudinal guide rail. The steering adjusting assembly comprises a steering I-shaped guide rail and a rotation driving mechanism, and can drive the steering guide rail to rotate so that the steering guide rail can be in butt joint with the transverse guide rail or the longitudinal guide rail. The carrying assembly is composed of a grabbing assembly and a moving assembly, the grabbing assembly grabs materials through a mechanical arm and a mechanical arm, and the moving assembly is connected to the guide rail channel in a hung mode and drives the assembly to move. The carrying assembly can be stably switched between the transverse guide rail and the longitudinal guide rail, and the intelligent degree of the system and the warehouse material conveying efficiency are improved.

Description

Technical Field

[0001] This invention belongs to the technical field of warehouse material handling equipment, specifically relating to an intelligent warehouse overhead conveyor system. Background Technology

[0002] With the intelligent development of the warehousing and logistics industry, the efficiency of handling and conveying materials within warehouses has become crucial for improving warehouse management. Currently, the most commonly used conveying equipment in warehouses is the ground-mounted conveyor, which occupies a large amount of warehouse floor space and is difficult to use for three-dimensional material handling. It also has poor adaptability to conveying materials to high-rise shelves or densely stored areas.

[0003] Suspended conveyor systems have become an important solution to the aforementioned problems because they can utilize the space above the warehouse without occupying ground-level work areas. However, existing suspended conveyor systems mostly use fixed guide rail layouts, resulting in poor turning flexibility, difficulty in achieving smooth switching between lateral and longitudinal guide rails, and susceptibility to problems such as guide rail interference and operational stalls during turning, thus affecting conveying efficiency.

[0004] Therefore, there is an urgent need for a smart warehouse overhead conveyor system that offers smooth steering and intelligent operation to address the shortcomings of existing technologies. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an intelligent warehouse overhead conveyor system. The conveying assembly of the present invention switches more smoothly between the transverse I-beam guide rail and the longitudinal I-beam guide rail, thereby improving the level of intelligent operation and the efficiency of warehouse material conveying.

[0006] The technical solution adopted by this invention to solve the problems existing in the prior art is: A suspended conveying system for intelligent warehouses includes a transverse guide rail assembly, several parallel and spaced longitudinal I-beam guide rails, and a handling assembly.

[0007] The transverse guide rail assembly includes a transverse I-shaped guide rail and several steering adjustment assemblies. The transverse I-shaped guide rail and the longitudinal I-shaped guide rail are perpendicular to each other and arranged at intervals. The transverse I-shaped guide rail is provided with several empty areas at intervals along its length direction. The empty areas are arranged opposite to the longitudinal I-shaped guide rails one by one.

[0008] The steering adjustment assembly includes a steering I-shaped guide rail and a rotary drive mechanism. The steering I-shaped guide rail is disposed in the empty area. The rotary drive mechanism drives the steering I-shaped guide rail to rotate around its own axis, so that both ends of the steering I-shaped guide rail abut against the end faces of the transverse I-shaped guide rails on both sides of the empty area, or so that one end of the steering I-shaped guide rail abuts against the end of the longitudinal I-shaped guide rail.

[0009] The conveying assembly includes a gripping component and a moving component.

[0010] The gripping assembly includes interconnected robotic arms and a robotic hand, used to grip materials in the warehouse.

[0011] The moving component is engaged with the guide rail channel formed by the transverse I-shaped guide rail, the longitudinal I-shaped guide rail, and the steering I-shaped guide rail, and is used to drive the transport assembly to move along the guide rail channel.

[0012] Preferably, the rotary drive mechanism includes a vertically arranged rotating rod fixedly connected to the center of the top surface of the steering I-shaped guide rail, and a first telescopic mechanism.

[0013] The rotating rod is fitted with a gear that is fixedly connected to it on the same axis, and the movable end of the first telescopic mechanism is fixed with a rack, which meshes with the gear.

[0014] Preferably, the top of the rotating rod is provided with a first turntable, and a second turntable is provided above the first turntable. The first turntable and the second turntable are together fitted with a detachable snap-fit ​​sleeve.

[0015] A push-pull rod is coaxially fixed above the second turntable, and the push-pull rod is fixedly connected to the movable end of the vertically arranged second telescopic mechanism.

[0016] The second telescopic mechanism drives the steering I-shaped guide rail to move up and down in the vertical direction through the push-pull rod, the snap-fit ​​sleeve and the rotating rod, and the distance that the steering I-shaped guide rail moves up and down is greater than its own height.

[0017] Preferably, the gear is fitted with a fixedly installed tooth sleeve, and the inner tooth ring of the tooth sleeve meshes with the gear.

[0018] The rack is positioned above the gear sleeve. When the gear moves upward with the rotating rod to the outside of the gear sleeve, the gear meshes with the rack.

[0019] Preferably, the number of teeth of the gear is four times the number of teeth of the rack.

[0020] The rack has smooth sections at both ends of its tooth surface. When the gear is inside the gear sleeve, the smooth sections of the rack are located directly above the gear.

[0021] Preferably, the moving component includes a second support frame with a U-shaped structure, wheels, and a servo motor.

[0022] The bottom of the second support frame is detachably connected to the robotic arm via a lower mounting base, and the robotic hand is fixedly connected to the other end of the robotic arm.

[0023] The moving component includes at least two wheels, the axles of which are inserted into the upright plate of the second support frame and rotatably connected to the second support frame.

[0024] The servo motor is fixed to the outer wall of the second support frame, and the output shaft of the servo motor is coaxially and fixedly connected to the axle of one of the wheels.

[0025] The wheels connected to the two upright plates of the second support frame are respectively engaged in the grooves on both sides of the I-shaped guide rail and roll in cooperation with the grooves.

[0026] Preferably, the moving component includes at least three wheels, and at least two wheels are connected at intervals to the upright plate on one side of the second support frame.

[0027] Preferably, a braking device is connected to the second support frame. The braking device includes two brake components arranged opposite to each other, a slide rod, a tension spring, an adjustment control, and a third telescopic mechanism.

[0028] The braking component includes a brake disc, and the brake discs of the two opposing brake components correspond to the upper and lower end faces of the I-shaped guide rail groove, respectively.

[0029] A vertically arranged sleeve is fixed to one side of the guide rail groove on the back of the brake disc, and an extrusion plate is fixed to the outer side of the top of the sleeve.

[0030] The two ends of the slide rod are respectively inserted into the sleeves of the two brake components and slide in cooperation with the sleeves.

[0031] The slide bar is fixedly connected to the second support frame at its axial midpoint via a horizontally arranged fixed rod.

[0032] The two ends of the tension spring are fixedly connected to the two brake discs respectively, and are used to provide a pulling force to bring the two brake discs closer to each other.

[0033] The adjustment control includes a high-position support block, and a low-position support block and a socket plate fixedly connected to both sides of the high-position support block.

[0034] The two end faces of the high-position support block along the axis of the slide rod protrude outward from the opposite end faces of the two low-position support blocks, and the end faces of the high-position support block and the low-position support block along the axis of the slide rod are connected by a slope transition.

[0035] The U-shaped sleeve plate is fitted onto the outside of the fixed rod and slides in cooperation with the fixed rod.

[0036] The third telescopic mechanism is fixedly connected to the second support frame, and the movable end of the third telescopic mechanism is fixedly connected to the adjustment control, which is used to drive the adjustment control to move back and forth along the arrangement direction of the high support block and the low support block.

[0037] When the high-position support block moves between the two extrusion plates, the high-position support block pushes the two extrusion plates outward, thereby causing the two brake discs to press and fit against the upper and lower end faces of the I-shaped guide rail groove, generating braking force.

[0038] When the lower support block moves between the two extrusion plates, the tension spring pulls the two brake discs closer together, causing the brake discs to separate from the I-shaped guide rail grooves and releasing the braking force.

[0039] Preferably, the bottom of the lower mounting base is detachably connected to two sets of gripping components.

[0040] A vertically arranged electric multi-stage telescopic rod is fixed above the lower mounting base, and the top surface of the multi-stage telescopic rod is detachably connected to the upper mounting base.

[0041] The upper mounting base is fixedly connected to the bottom surface of the second support frame via a vertically arranged extension rod, and the height of the extension rod is greater than the maximum height of the steering I-shaped guide rail when it moves upward.

[0042] Preferably, the transverse I-shaped guide rail has a surrounding plate at one end facing away from the longitudinal I-shaped guide rail.

[0043] When the steering I-shaped guide rail rotates to be perpendicular to the transverse I-shaped guide rail, both ends of the steering I-shaped guide rail abut against and fit against the surrounding panel and the longitudinal I-shaped guide rail, respectively.

[0044] Compared with the prior art, the present invention has the following beneficial effects: (1) The steering I-shaped guide rail adopts the action logic of moving up-rotating-moving down, which effectively avoids component interference during the steering process. The positioning is achieved through the cooperation of the gear sleeve and gear, ensuring that the steering I-shaped guide rail is precisely aligned with the corresponding guide rail, thereby improving the operational stability of the handling assembly.

[0045] (2) The six-axis robotic arm and the gripper-type robotic hand are used together to flexibly grasp materials of different specifications and positions. The lower mounting base can connect two sets of gripping components to form a structure similar to the human arm. It can not only hold long or heavy materials, but also realize the simultaneous handling of multiple materials, thus improving the reliability of handling.

[0046] (3) The suspended layout does not occupy ground space, adapts to the three-dimensional storage needs of warehouses, and further improves the conveying efficiency.

[0047] (4) The connection of each component is reasonable, the wheels and guide rail grooves roll together, the braking effect of the brake device is reliable, and it can effectively avoid problems such as derailment of the transport assembly and jamming during movement, thus extending the service life of the system. Attached Figure Description

[0048] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0049] Figure 1 This is a structural diagram of a suspended conveyor system for intelligent warehouses according to the present invention. Figure 2 This is a structural diagram of the transverse guide rail assembly in a suspended conveyor system for intelligent warehouses according to the present invention. Figure 3 This is a structural diagram of a steering adjustment assembly in a suspended conveyor system for intelligent warehouses according to the present invention. Figure 4 This is a partial sectional view of the steering adjustment assembly. Figure 5 This is a structural diagram of a handling assembly in a suspended conveying system for intelligent warehouses according to the present invention. Figure 6 To extract the component structure diagram from the handling assembly, Figure 7 This is a schematic diagram of the rear connection point of the moving component in the transport assembly. Figure 8 This is a schematic diagram of the front connection point of the moving component in the transport assembly. Figure 9 This is a diagram of the mobile component structure. Figure 10 This is a structural diagram of the braking device in the moving component. Figure 11 This is a partial sectional view of the braking device. Figure 12 This is a structural diagram of the brake components in a braking system. Figure 13 This is a structural diagram of the control switch in the braking device.

[0050] In the diagram: 1-Horizontal I-shaped guide rail, 101-Empty area, 2-Vertical I-shaped guide rail, 3-Wall panel, 4-Steering I-shaped guide rail, 5-Rotating rod, 501-Gear, 502-First turntable, 6-Gear sleeve, 7-Rack, 8-First telescopic mechanism, 9-Second telescopic mechanism, 10-Push-pull rod, 1001-Second turntable, 11-Snap-fit ​​sleeve, 12-First support frame, 13-Mechanical arm, 14-Mechanical arm, 15-Lower mounting base, 16-Multi-stage telescopic 17-Upper mounting base, 18-Extension rod, 19-Second support frame, 20-Wheel, 21-Servo motor, 22-Brake component, 2201-Brake disc, 2202-Sleeve, 2203-Ring, 2204-Extrusion plate, 23-Slide rod, 2301-Fixing rod, 24-Tension spring, 25-Adjustment control, 2501-High position support block, 2502-Low position support block, 2503-Socket plate, 26-U-shaped rod, 27-Third telescopic mechanism. Detailed Implementation

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of this application belong. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this application.

[0052] Furthermore, the specification and claims of this invention use terms indicating direction, such as "front," "rear," "upper," "lower," "left," "right," "side," "top," and "bottom," to describe various exemplary structural parts and elements of the invention. However, these terms are used herein merely for illustrative purposes and are determined based on the exemplary orientations shown in the accompanying drawings. Therefore, these terms indicating direction are for illustrative purposes only and should not be considered as limitations. For example, "upper" and "lower" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

[0053] The following detailed description of a suspended conveyor system for intelligent warehouses, in conjunction with the accompanying drawings, further illustrates the present invention.

[0054] Depend on Figures 1 to 13 As shown, A suspended conveyor system for intelligent warehouses includes a transverse guide rail assembly, several parallel and spaced longitudinal I-beam guide rails 2, and a conveying assembly. These three components work together to fully utilize the upper space of the warehouse, avoiding the occupation of ground-level work areas. This solves the problems of low space utilization and poor three-dimensional conveying capabilities of existing ground-based conveyors, thereby improving warehouse space utilization and the flexibility of material transport.

[0055] The transverse guide rail assembly includes a transverse I-beam guide rail 1 and several steering adjustment assemblies. The transverse I-beam guide rail 1 and the longitudinal I-beam guide rail 2 are arranged perpendicularly to each other and at intervals. Several empty areas 101 are spaced along the length of the transverse I-beam guide rail 1, and these empty areas 101 are arranged opposite to the longitudinal I-beam guide rails 2. In this layout, the shelving is positioned between two adjacent longitudinal I-beam guide rails 2, and the transverse I-beam guide rail 1 is positioned at one end of all the shelving. This arrangement can accommodate all shelving while reducing the number of guide rails required, thereby lowering costs and adapting to the needs of automated warehouse storage. The empty areas 101 provide dedicated installation space for the steering adjustment assemblies, avoiding interference between the steering mechanism and the guide rail body, while ensuring precise correspondence between the steering mechanism and the transverse and longitudinal guide rails, laying the foundation for smooth steering laterally.

[0056] The steering adjustment assembly includes a steering I-shaped guide rail 4 and a rotary drive mechanism. The steering I-shaped guide rail 4 is disposed within the vacant area 101. The rotary drive mechanism drives the steering I-shaped guide rail 4 to rotate around its own axis, so that both ends of the steering I-shaped guide rail 4 abut against the end faces of the transverse I-shaped guide rails 1 on both sides of the vacant area 101, or one end of the steering I-shaped guide rail 4 abuts against the end of the longitudinal I-shaped guide rail 2. This mechanism can realize flexible switching between transverse and longitudinal guide rails, solving the problems of inflexible steering and switching jams in existing overhead conveyor systems, ensuring that the conveying assembly can move smoothly between different guide rails, and improving the efficiency of material conveying.

[0057] The rotary drive mechanism includes a vertically arranged rotating rod 5 fixedly connected to the center of the top surface of the steering I-shaped guide rail 4, and a first telescopic mechanism 8. A gear 501 is sleeved on the rotating rod 5 and fixedly connected to it on the same axis. A rack 7 is fixedly attached to the movable end of the first telescopic mechanism 8. The rack 7 meshes with the gear 501. Through the telescopic movement of the first telescopic mechanism 8, the rack 7 is moved, which in turn drives the gear 501 and the rotating rod 5 to rotate, ultimately causing the steering I-shaped guide rail 4 to rotate around its own axis.

[0058] A first turntable 502 is located at the top of the rotating rod 5, and a second turntable 1001 is located above the first turntable 502. A detachable snap-fit ​​sleeve 11 is fitted around both the first turntable 502 and the second turntable 1001. A push-pull rod 10 is coaxially fixed above the second turntable 1001, and the push-pull rod 10 is fixedly connected to the movable end of a vertically arranged second telescopic mechanism 9. The second telescopic mechanism 9 drives the steering I-shaped guide rail 4 to move vertically up and down via the push-pull rod 10, the snap-fit ​​sleeve 11, and the rotating rod 5. The vertical movement distance of the steering I-shaped guide rail 4 is greater than its own height, ensuring no interference during steering.

[0059] A fixed gear sleeve 6 is fitted around the outside of gear 501, and the inner gear ring of the gear sleeve 6 meshes with gear 501. A rack 7 is positioned above the gear sleeve 6. When gear 501 moves upward with the rotating rod 5 to the outside of the gear sleeve 6, gear 501 meshes with the rack 7 to achieve steering drive. After steering is completed, gear 501 moves downward with the rotating rod 5 to the inside of the gear sleeve 6, meshing with the gear sleeve 6 to position the steering I-shaped guide rail 4 and prevent accidental rotation.

[0060] Furthermore, the number of teeth on gear 501 is four times the number of teeth on rack 7, ensuring that rack 7 can rotate gear 501 90° each time it extends or retracts. Both ends of the tooth surface on rack 7 are provided with smooth sections. When gear 501 is inside gear sleeve 6, the smooth sections of rack 7 are directly above gear 501, preventing mis-meshing between rack 7 and gear 501 and ensuring the stability of the structure during operation.

[0061] In this invention patent, before the steering I-shaped guide rail 4 performs a steering action, it must first move upwards, then rotate, and finally move downwards to reset. This action logic effectively avoids interference between the steering I-shaped guide rail 4 and the transverse I-shaped guide rail 1, longitudinal I-shaped guide rail 2, or other components when the steering I-shaped guide rail 4 rotates directly, ensuring a smooth and stable steering process. It also ensures precise alignment between the steering I-shaped guide rail 4 and the corresponding transverse I-shaped guide rail 1 or longitudinal I-shaped guide rail 2, improving the operational stability of the transport assembly during guide rail switching and preventing problems such as jamming and derailment. This action logic solves the core problems of interference and unstable steering in existing steering mechanisms, extends the service life of the guide rails and steering mechanism, and improves the reliability of system operation.

[0062] The specific operation process is as follows: When the transport assembly needs to turn from the transverse I-shaped guide rail 1 to the longitudinal I-shaped guide rail 2, or from the longitudinal I-shaped guide rail 2 to the transverse I-shaped guide rail 1, the second telescopic mechanism 9 first drives the rotating rod 5 and the turning I-shaped guide rail 4 to move upward. The moving distance is greater than the height of the turning I-shaped guide rail 4 itself, so that the turning I-shaped guide rail 4 is completely out of the interference range of the empty area 101 and the surrounding guide rails. Subsequently, the rotary drive mechanism drives the turning I-shaped guide rail 4 to rotate around the axis of the rotating rod 5 to the target angle, so that the two ends of the turning I-shaped guide rail 4 are respectively aligned with the end faces of the guide rails to be connected. Finally, the second telescopic mechanism 9 drives the turning I-shaped guide rail 4 to move downward, so that the two ends of the turning I-shaped guide rail 4 abut and fit against the end faces of the corresponding guide rails, completing the turning action and facilitating the smooth passage of the transport assembly.

[0063] The toothed sleeve 6, the first telescopic mechanism 8, and the second telescopic mechanism 9 are all fixedly connected to the first support frame 12. The first telescopic mechanism 8 and the second telescopic mechanism 9 are all electric telescopic rods. The first support frame 12, the transverse I-shaped guide rail 1, and the longitudinal I-shaped guide rail 2 are all fixedly connected to the warehouse roof through a hanging bracket and expansion bolts.

[0064] The handling assembly includes a gripping component and a moving component. The two work together to grip and precisely move materials, solving the problems of poor operational coordination and low handling accuracy of existing handling mechanisms, and ensuring that materials can be stably and quickly moved from the storage location to the target location.

[0065] The gripping assembly includes a robotic arm 13 and a robotic hand 14 connected to each other, used to grip materials in the warehouse. This assembly can flexibly adapt to the gripping needs of materials of different sizes and positions, solving the problems of poor versatility and unstable gripping of existing gripping mechanisms, reducing slippage and damage during the gripping process, and improving the reliability and versatility of gripping.

[0066] In this application, both the robotic arm 13 and the robotic arm 14 adopt existing mature technologies, without the need for structural innovation, and are only adapted to the installation and use requirements of this system.

[0067] The robotic arm 13 employs a gripper-type structure, specifically comprising two opposing grippers, both electrically driven by micro servo motors. This allows for the opening and closing of the grippers, enabling the grasping and releasing of materials of varying sizes and weights. The gripping surfaces are equipped with anti-slip rubber pads to increase friction, preventing materials from slipping during grasping and protecting fragile materials from excessive force. The opening and closing stroke of the grippers can be adjusted via an electronic control unit to adapt to different specifications of warehouse materials, improving the versatility of grasping. This structure solves the problems of unstable gripping, poor versatility, and easy damage to materials associated with existing robotic arms, ensuring stable grasping of different types of materials and reducing material handling losses.

[0068] The robotic arm 14 is a six-axis robotic arm, also electrically driven. Each of its six axes corresponds to one of six independent electric joints, each driven by a servo motor, enabling flexible rotation and extension with multiple degrees of freedom. This six-axis structure allows the robotic arm 14 to move the robotic hand 13 to any position in three-dimensional space, flexibly adapting to the needs of material handling at different heights and locations, making it particularly suitable for material handling operations in high-rise shelving and dense storage areas. The range of motion and movement speed of the robotic arm 14 can be precisely controlled by an electronic control unit, ensuring the smoothness and accuracy of the grasping and handling process. This structure solves the problems of insufficient degrees of freedom, poor adaptability, and low motion precision of existing robotic arms, improving the flexibility and accuracy of material grasping and placement, and adapting to the complex storage environment of warehouses.

[0069] The moving component engages with the guide rail channel formed by the transverse I-shaped guide rail 1, the longitudinal I-shaped guide rail 2, and the steering I-shaped guide rail 4, and is used to drive the transport assembly to move along the guide rail channel. This engagement method ensures smooth movement of the transport assembly, avoiding derailment, jamming, and other problems. It also allows for flexible switching between different guide rails, further improving the smoothness and stability of material transport.

[0070] The moving assembly includes a U-shaped second support frame 19, wheels 20, and a servo motor 21. The bottom of the second support frame 19 is detachably connected to the robotic arm 14 via a lower mounting base 15, and the robotic arm 13 is fixedly connected to the other end of the robotic arm 14. The moving assembly has at least three wheels 20, with at least two spaced-apart wheels 20 spaced apart on one side of the upright plate of the second support frame 19 to achieve balance of the moving assembly. The axles of the wheels 20 are inserted into the upright plate of the second support frame 19 and are rotatably connected to the second support frame 19. The servo motor 21 is fixed to the outer wall of the second support frame 19, and the output shaft of the servo motor 21 is coaxially fixedly connected to the axle of one of the wheels 20. The servo motor 21 drives the wheel 20 to rotate, thereby moving the entire conveying assembly along the guide rail channel.

[0071] The wheels 20 connected to the two upright plates of the second support frame 19 are respectively locked in the grooves on both sides of the I-shaped guide rail 1 (transverse I-shaped guide rail 1), the longitudinal I-shaped guide rail 2, and the steering I-shaped guide rail 4, and roll in cooperation with the grooves to ensure the smoothness of the movement process and avoid derailment.

[0072] A braking device is connected to the second support frame 19. The braking device includes two opposing brake components 22, a slide rod 23, a tension spring 24, an adjustment control 25, and a third telescopic mechanism 27. Each brake component 22 includes a brake disc 2201, with the brake discs 2201 of the two opposing brake components corresponding to the upper and lower end faces of the I-shaped guide rail grooves, respectively. A vertically arranged sleeve 2202 is fixed to the side of the brake disc 2201 facing away from the guide rail groove, and a pressing plate 2204 is fixed to the outer side of the top of the sleeve 2202. Both ends of the slide rod 23 are respectively inserted into the sleeves 2202 of the two brake components 22 and slide in cooperation with the sleeves 2202. The axial middle position of the slide rod 23 is fixedly connected to the second support frame 19 via a horizontally arranged fixing rod 2301. Both ends of the tension spring 24 are detachably connected to collars 2203 on the two brake discs 2201, providing a pulling force to bring the two brake discs 2201 closer together. The adjustment control 25 includes a high-position support block 2501, and low-position support blocks 2502 and a sleeve plate 2503 fixedly connected to both sides of the high-position support block 2501. The two end faces of the high-position support block 2501 along the axial direction of the slide rod 23 protrude outwards from the opposite end faces of the two low-position support blocks 2502, and the end faces of the high-position support block 2501 and low-position support blocks 2502 along the axial direction of the slide rod 23 are connected by a slope transition. The U-shaped sleeve plate 2503 is sleeved on the outside of the fixed rod 2301 and slides in cooperation with the fixed rod 2301. The third telescopic mechanism 27 is fixedly connected to the second support frame 19, and the movable end of the third telescopic mechanism 27 is fixedly connected to the adjustment control 25, used to drive the adjustment control 25 to reciprocate along the arrangement direction of the high-position support blocks 2501 and low-position support blocks 2502.

[0073] The third telescopic mechanism 27 adopts an electric telescopic rod. For ease of arrangement, it is fixedly installed below the second support frame 19 and is fixedly connected to the end of the sleeve plate 2503 via a U-shaped rod 26.

[0074] In this embodiment, two sets of gripping components are detachably connected to the bottom of the lower mounting base 15, enabling simultaneous gripping of two items and improving handling efficiency. A vertically arranged electric multi-stage telescopic rod 16 is fixed above the lower mounting base 15, and an upper mounting base 17 is detachably connected to the top surface of the multi-stage telescopic rod 16. The height of the gripping components is changed by extending and retracting the multi-stage telescopic rod 16, making it suitable for gripping items placed on different shelves. The upper mounting base 17 is fixedly connected to the bottom surface of the second support frame 19 via a vertically arranged extension rod 18, and the height of the extension rod 18 is greater than the maximum upward movement height of the steering I-shaped guide rail 4, preventing interference between the steering I-shaped guide rail 4 and the gripping components, multi-stage telescopic rod 16, etc., when the steering I-shaped guide rail 4 moves upward.

[0075] An electronic control unit (ECU) is installed in the handling assembly. This ECU includes a power supply module and a control module, both of which are fixed to the second support frame 19 or the upper mounting base 17. The specific fixing position can be flexibly selected according to the installation space to ensure that it does not affect the movement and gripping actions of the handling assembly. The addition of the ECU enables automated and coordinated control of the various components of the handling assembly, solving the problems of cumbersome operation and poor coordination of the existing handling assembly, improving the system's intelligence level, reducing manual intervention, and lowering labor costs.

[0076] The control module integrates a control chip and a signal receiving module, which can receive the position signal from the photoelectric sensor and control the actions of the braking device, servo motor 21, robotic arm 13, robotic arm 14, and various telescopic mechanisms to realize the automated control of the handling assembly.

[0077] The power supply module utilizes a wirelessly rechargeable battery, providing stable power to all components of the handling assembly, including the robotic arm 13, robotic girder 14, servo motor 21, third telescopic mechanism 27, and control module. When the battery level falls below a preset threshold, the control module detects the low-battery signal and controls the moving component to move the handling assembly along the transverse I-shaped guide rail 1 to one end. A wireless charging module is pre-installed at this location and is electrically connected to an external power source. When the handling assembly moves to this position, the wireless charging module wirelessly connects to the battery in the power supply module, automatically charging the battery without requiring manual plugging and unplugging of the charging interface, thus improving the system's intelligence and ease of use. After charging is complete, the control module controls the handling assembly to automatically leave the charging position and resume normal handling operations. This power supply and charging structure solves the problems of insufficient battery life and cumbersome charging in existing handling assemblies, enabling automatic battery replenishment, ensuring continuous and stable system operation, and further improving material handling efficiency.

[0078] A through-beam photoelectric sensor is installed at the middle position of the steering I-beam guide rail 4. This sensor includes a transmitter and a receiver, respectively mounted on both sides of the steering I-beam guide rail 4 along its length, and is used to detect whether the transport assembly is in position. When the transport assembly needs to turn and enter the corresponding longitudinal I-beam guide rail 2, the transport assembly moves along the guide rail to the middle position of the steering I-beam guide rail 4. At this time, the transport assembly blocks the light between the transmitter and receiver of the through-beam photoelectric sensor. The sensor detects that the transport assembly has reached its position and generates a positioning signal. This sensor enables precise positioning detection of the transport assembly, solving the problems of inaccurate positioning and easy deviation of the transport assembly during existing steering processes. It provides accurate signal support for subsequent braking and steering actions, ensuring the orderly conduct of the steering process.

[0079] The photoelectric sensor transmits the positioning signal to the receiving module through the corresponding remote transmission module. The receiving module is electrically connected to the electronic control unit of the transport assembly. After receiving the positioning signal, it controls the braking device to brake the transport assembly and keep it stably stationed in the middle position of the steering I-shaped guide rail 4.

[0080] The specific actions are as follows: When the photoelectric sensor detects that the transport assembly has reached its position, the receiving module receives the signal and controls the third telescopic mechanism 27 to move, causing the adjustment control 25 to move. This moves the high-position support block 2501 between the two pressing plates 2204. The high-position support block 2501 pushes the two pressing plates 2204 outward, thereby causing the two brake discs 2201 to press against the upper and lower end faces of the I-shaped guide rail groove, generating braking force and bringing the transport assembly to a stop. After the steering is completed, the third telescopic mechanism 27 moves the adjustment control 25 in the opposite direction, causing the low-position support block 2502 to move between the two pressing plates 2204. The tension spring 24 pulls the two brake discs 2201 closer together, causing the brake discs 2201 to separate from the I-shaped guide rail groove, releasing the braking force, and allowing the transport assembly to continue moving.

[0081] After the transport assembly comes to a complete stop, the steering adjustment assembly then performs upward, rotating, and downward steering movements according to the aforementioned action logic. This prevents the transport assembly from moving during steering, further improving steering smoothness and safety. This mechanism solves the problems of easy movement of the transport assembly and poor steering safety during steering, ensuring precise and smooth steering movements and reducing the system failure rate.

[0082] A baffle plate 3 is provided at one end of the transverse I-shaped guide rail 1 facing away from the longitudinal I-shaped guide rail 2. When the steering I-shaped guide rail 4 rotates to be perpendicular to the transverse I-shaped guide rail 1, both ends of the steering I-shaped guide rail 4 abut against the baffle plate 3 and the longitudinal I-shaped guide rail 2 respectively, thereby achieving end positioning of the steering I-shaped guide rail 4 and ensuring precise docking with the longitudinal I-shaped guide rail 2.

[0083] The workflow of the intelligent warehouse overhead conveyor system in this embodiment is as follows: S01. Initial State: The steering I-beam guide rail 4 is located within the vacant area 101, maintaining the same straight line as the transverse I-beam guide rail 1. The gear 501 is located inside the gear sleeve 6 and meshes with the gear sleeve 6 for positioning. The transport assembly is located on the transverse I-beam guide rail 1, the electronic control unit is in standby mode, and the battery has sufficient power.

[0084] S02. Material Acquisition: The control module controls the movement of the robotic arm 14, which moves the robotic hand 13 to the material storage position. It controls the opening and closing of the gripper of the robotic hand 13 to grab the material. After the material is grabbed, the robotic arm 14 adjusts its position to stably lift the material.

[0085] S03. Lateral movement: The control module controls the servo motor 21 to start, which drives the wheel 20 to rotate, causing the transport assembly to move along the transverse I-shaped guide rail 1 towards the target turning position.

[0086] S04. Steering Preparation: When the transport assembly moves to the middle position of the steering I-shaped guide rail 4, the photoelectric sensor detects that the transport assembly has been positioned and sends a signal to the receiving module through the remote transmission module. The receiving module then feeds back to the control module, which controls the braking device to stop the transport assembly.

[0087] S05. Steering action: After braking is completed, the control module controls the second telescopic mechanism 9 to move the steering I-shaped guide rail 4 upward, moving it out of the interference range. Then, it controls the first telescopic mechanism 8 to move the rack 7, driving the gear 501 and rotating rod 5 to rotate, aligning the steering I-shaped guide rail 4 with the longitudinal I-shaped guide rail 2. Finally, it controls the second telescopic mechanism 9 to move the steering I-shaped guide rail 4 downward, bringing it into contact with the longitudinal I-shaped guide rail 2 and the surrounding plate 3, completing the steering maneuver.

[0088] S06. Vertical movement: After the turn is completed, the control module controls the braking device to release the brake, controls the servo motor 21 to start, and drives the handling assembly to enter the longitudinal I-shaped guide rail 2 along the steering I-shaped guide rail 4, move to the target position, and control the robotic arm 14 and robotic hand 13 to place the materials.

[0089] S07. Battery Life Supplement: When the battery power is low, the control module controls the transport assembly to move to the wireless charging area at one end of the horizontal I-shaped guide rail 1. After completing the wireless charging, it returns to the working area to continue working.

[0090] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A suspended conveyor system for intelligent warehouses, characterized in that: It includes a transverse guide rail assembly, several parallel and spaced longitudinal I-beam guide rails (2), and a transport assembly; The transverse guide rail assembly includes a transverse I-shaped guide rail (1) and several steering adjustment assemblies. The transverse I-shaped guide rail (1) and the longitudinal I-shaped guide rail (2) are perpendicular to each other and arranged at intervals. Several empty areas (101) are provided on the transverse I-shaped guide rail (1) along its length direction. The empty areas (101) and the longitudinal I-shaped guide rail (2) are arranged opposite to each other. The steering adjustment assembly includes a steering I-shaped guide rail (4) and a rotary drive mechanism. The steering I-shaped guide rail (4) is disposed in the empty area (101). The rotary drive mechanism drives the steering I-shaped guide rail (4) to rotate around its own axis, so that the two ends of the steering I-shaped guide rail (4) abut against the end faces of the transverse I-shaped guide rails (1) on both sides of the empty area (101), or abut against the end of the longitudinal I-shaped guide rail (2). The conveying assembly includes a gripping component and a moving component; The gripping assembly includes a robotic arm (13) and a robotic hand (14) connected to each other for gripping materials in the warehouse; The moving component is engaged with the guide rail channel formed by the transverse I-shaped guide rail (1), the longitudinal I-shaped guide rail (2), and the steering I-shaped guide rail (4) to drive the transport assembly to move along the guide rail channel.

2. The suspended conveyor system for intelligent warehouses according to claim 1, characterized in that: The rotary drive mechanism includes a rotating rod (5) arranged vertically and fixedly connected to the center of the top surface of the steering I-shaped guide rail (4), and a first telescopic mechanism (8). The rotating rod (5) is fitted with a gear (501) that is coaxially fixedly connected to it, and the movable end of the first telescopic mechanism (8) is fixed with a rack (7), which meshes with the gear (501).

3. The suspended conveyor system for intelligent warehouses according to claim 1, characterized in that: The top of the rotating rod (5) is provided with a first turntable (502), and a second turntable (1001) is provided above the first turntable (502). The first turntable (502) and the second turntable (1001) are together fitted with a detachable snap-fit ​​sleeve (11). A push-pull rod (10) is coaxially fixed above the second turntable (1001), and the push-pull rod (10) is fixedly connected to the movable end of the vertically arranged second telescopic mechanism (9); The second telescopic mechanism (9) drives the steering I-shaped guide rail (4) to move up and down in the vertical direction through the push-pull rod (10), the snap-fit ​​sleeve (11) and the rotating rod (5), and the distance that the steering I-shaped guide rail (4) moves up and down is greater than its own height.

4. The suspended conveyor system for intelligent warehouses according to claim 3, characterized in that: The gear (501) is fitted with a fixed tooth sleeve (6), and the inner tooth ring of the tooth sleeve (6) meshes with the gear (501). The rack (7) is positioned above the gear sleeve (6). When the gear (501) moves upward with the rotating rod (5) to the outside of the gear sleeve (6), the gear (501) meshes with the rack (7).

5. The suspended conveyor system for intelligent warehouses according to claim 4, characterized in that: The number of teeth of the gear (501) is four times the number of teeth of the rack (7); The rack (7) has smooth sections at both ends of its tooth surface. When the gear (501) is inside the gear sleeve (6), the smooth section of the rack (7) is directly above the gear (501).

6. The suspended conveyor system for intelligent warehouses according to claim 1, characterized in that: The moving component includes a second support frame (19) with a U-shaped structure, wheels (20) and a servo motor (21). The bottom of the second support frame (19) is detachably connected to the robotic arm (14) via the lower mounting base (15), and the other end of the robotic hand (13) is fixedly connected to the robotic arm (14); The moving component includes at least two wheels (20), the axles of which are inserted into the upright plate of the second support frame (19) and are rotatably connected to the second support frame (19); The servo motor (21) is fixed on the outer wall of the second support frame (19), and the output shaft of the servo motor (21) is coaxially and fixedly connected to the shaft of one of the wheels (20). The wheels (20) connected to the two upright plates of the second support frame (19) are respectively locked in the grooves on both sides of the I-shaped guide rail and roll in cooperation with the grooves.

7. The suspended conveyor system for intelligent warehouses according to claim 6, characterized in that: The moving component includes at least three wheels (20), and at least two wheels (20) are connected at intervals to the upright plate on one side of the second support frame (19).

8. The suspended conveyor system for intelligent warehouses according to claim 7, characterized in that: The second support frame (19) is connected to a braking device, which includes two opposing brake components (22), a slide rod (23), a tension spring (24), an adjustment control (25), and a third telescopic mechanism (27). The brake component (22) includes a brake disc (2201), and the brake discs (2201) of the two opposing brake components (22) correspond to the upper and lower end faces of the I-shaped guide rail groove respectively; A vertically arranged sleeve (2202) is fixed on one side of the brake disc (2201) opposite to the guide rail groove, and an extrusion plate (2204) is fixed on the outer side of the top of the sleeve (2202). The two ends of the slide rod (23) are respectively inserted into the sleeves (2202) of the two brake components (22) and slide in cooperation with the sleeves (2202); The axial middle position of the slide rod (23) is fixedly connected to the second support frame (19) by a horizontally arranged fixed rod (2301); The two ends of the tension spring (24) are fixedly connected to the two brake discs (2201) respectively, and are used to provide a pulling force to bring the two brake discs (2201) closer to each other; The adjustment control (25) includes a high-position support block (2501), and a low-position support block (2502) and a socket plate (2503) fixedly connected to both sides of the high-position support block (2501). The two end faces of the high support block (2501) along the axis of the slide rod (23) protrude outward from the opposite end faces of the two low support blocks (2502), and the end faces of the high support block (2501) and the low support block (2502) along the axis of the slide rod (23) are connected by a slope transition. The U-shaped sleeve plate (2503) is sleeved on the outside of the fixed rod (2301) and slides in cooperation with the fixed rod (2301); The third telescopic mechanism (27) is fixedly connected to the second support frame (19), and the movable end of the third telescopic mechanism (27) is fixedly connected to the adjustment control (25), which is used to drive the adjustment control (25) to move back and forth along the arrangement direction of the high support block (2501) and the low support block (2502); When the high-position support block (2501) moves between the two extrusion plates (2204), the high-position support block (2501) pushes the two extrusion plates (2204) outward, thereby causing the two brake discs (2201) to press and fit against the upper and lower end faces of the I-shaped guide rail groove, generating braking force; When the low support block (2502) moves between the two extrusion plates (2204), the tension spring (24) pulls the two brake discs (2201) closer to each other, causing the brake discs (2201) to separate from the I-shaped guide rail groove and release the braking force.

9. A suspended conveyor system for intelligent warehouses according to claim 6, characterized in that: The bottom of the lower mounting base (15) is detachably connected to two sets of gripping components; A vertically arranged electric multi-stage telescopic rod (16) is fixed above the lower mounting base (15), and the top surface of the multi-stage telescopic rod (16) is detachably connected to the upper mounting base (17). The upper mounting base (17) is fixedly connected to the bottom surface of the second support frame (19) by a vertically arranged extension rod (18), and the height of the extension rod (18) is greater than the maximum height of the steering I-shaped guide rail (4) moving upward.

10. A suspended conveyor system for intelligent warehouses according to claim 1, characterized in that: The transverse I-shaped guide rail (1) has a surrounding plate (3) at one end facing away from the longitudinal I-shaped guide rail (2); When the steering I-shaped guide rail (4) rotates to be perpendicular to the transverse I-shaped guide rail (1), the two ends of the steering I-shaped guide rail (4) abut against and fit against the enclosure plate (3) and the longitudinal I-shaped guide rail (2) respectively.

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